You just have to start little by little trust me. My baby sleeps with me and night but takes naps by herself usually. Just lay him down for a little bit then come back in and calm him down and reassure him he’s okay. It took a while for my baby to get used to it. Now she just fusses when I lay her down then gets her self to sleep
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Start with just naps during the day. Also play in his room so he has a good association with. When you place him in it for not nap time add some books for him to look at
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